Patents by Inventor Benjamin Swilling
Benjamin Swilling has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20200290213Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.Type: ApplicationFiled: June 1, 2020Publication date: September 17, 2020Applicant: Boston Dynamics, Inc.Inventors: Stephen Berard, Alexander Yu Khripin, Benjamin Swilling
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Patent number: 10688667Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.Type: GrantFiled: February 21, 2018Date of Patent: June 23, 2020Assignee: Boston Dynamics, Inc.Inventors: Stephen Berard, Alex Yu Khripin, Benjamin Swilling
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Publication number: 20200016750Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.Type: ApplicationFiled: September 23, 2019Publication date: January 16, 2020Applicant: Boston Dynamics, Inc.Inventor: Benjamin Swilling
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Publication number: 20190344845Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.Type: ApplicationFiled: July 24, 2019Publication date: November 14, 2019Applicant: Boston Dynamics, Inc.Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
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Patent number: 10456916Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.Type: GrantFiled: February 15, 2019Date of Patent: October 29, 2019Assignee: Boston Dynamics, Inc.Inventor: Benjamin Swilling
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Patent number: 10399621Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.Type: GrantFiled: March 18, 2019Date of Patent: September 3, 2019Assignee: Boston Dynamics, Inc.Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
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Publication number: 20190210673Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.Type: ApplicationFiled: March 18, 2019Publication date: July 11, 2019Applicant: Boston Dynamics, Inc.Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
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Publication number: 20190176329Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.Type: ApplicationFiled: February 15, 2019Publication date: June 13, 2019Applicant: Boston Dynamics, Inc.Inventor: Benjamin Swilling
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Patent number: 10266220Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.Type: GrantFiled: October 22, 2018Date of Patent: April 23, 2019Assignee: Boston Dynamics, Inc.Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
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Patent number: 10239208Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.Type: GrantFiled: August 21, 2018Date of Patent: March 26, 2019Assignee: Boston Dynamics, Inc.Inventor: Benjamin Swilling
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Publication number: 20190054965Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.Type: ApplicationFiled: October 22, 2018Publication date: February 21, 2019Applicant: BOSTON DYNAMICS, INC.Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
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Patent number: 10144465Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.Type: GrantFiled: June 13, 2018Date of Patent: December 4, 2018Assignee: Boston Dynamics, Inc.Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
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Patent number: 10105845Abstract: A robotic system includes a body including at least one attachment mechanism configured to removably couple a modular component to the body. The modular component includes at least one movable part operable to move relative to the body when the modular component is attached to the body. The system includes a communication interface coupled to the body and configured to be communicatively coupled to the modular component to receive information relating to the modular component and operation of the at least one movable part. The system includes a control system coupled to the body and the communication interface. The control system is configured to: in response to the modular component being attached to the body, receive the information from the modular component by way of the communication interface, and operate the at least one movable part of the modular component according to the information.Type: GrantFiled: February 5, 2016Date of Patent: October 23, 2018Assignee: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, John Aaron Saunders, Benjamin Swilling
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Patent number: 10081104Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.Type: GrantFiled: January 23, 2017Date of Patent: September 25, 2018Assignee: Boston Dynamics, Inc.Inventor: Benjamin Swilling
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Patent number: 10017218Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.Type: GrantFiled: June 27, 2016Date of Patent: July 10, 2018Assignee: Boston Dynamics, Inc.Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
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Patent number: 9987745Abstract: The present disclosure relates to methods and systems for robust robotic task execution. An example method includes obtaining a task-level goal for a robot associated with one or more sub-goals, where accomplishment of the one or more sub-goals accomplishes the task-level goal. Carrying out an operation in pursuance of a given sub-goal may involve controlling at least one actuator of the robot. The method also includes determining one or more parameters indicative of a state of a system that includes the robot and an environment proximate to the robot. The method further includes selecting a particular sub-goal based on at least one of the one or more parameters. Additionally, the method includes selecting at least one controller based on at least one of the one or more parameters and the selected sub-goal. Further, the method includes causing the robot to operate in accordance with the at least one selected controller.Type: GrantFiled: April 1, 2016Date of Patent: June 5, 2018Assignee: Boston Dynamics, Inc.Inventors: Stephen Berard, Benjamin Swilling, Matthew Malchano
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Patent number: 9969082Abstract: The present disclosure relates to methods and systems for improving robotic task selection and execution. An example method includes determining an external environment state based on receiving information indicative of at least one aspect of an environment proximate to a robotic system having at least one actuator. The method also includes optionally determining a goal to be accomplished by a robotic system and determining a plurality of possible tasks each including at least one task involving the at least one actuator that may be carried out by the robotic system in pursuance of the goal. For each possible task group, the method includes determining a respective task group score based on an expected performance capability. The expected performance capability is based, at least in part, on the external environment state. The method includes selecting a task group based on the respective task group scores.Type: GrantFiled: January 5, 2016Date of Patent: May 15, 2018Assignee: Boston Dynamics, Inc.Inventors: Stephen Berard, Benjamin Swilling, Matthew Malchano
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Patent number: 9925667Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.Type: GrantFiled: January 25, 2016Date of Patent: March 27, 2018Assignee: Boston Dynamics, Inc.Inventors: Stephen Berard, Alex Yu Khripin, Benjamin Swilling
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Patent number: 9586316Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.Type: GrantFiled: September 15, 2015Date of Patent: March 7, 2017Assignee: Google Inc.Inventor: Benjamin Swilling